Neighbor node bus guardian scheme for a ring or mesh network

ABSTRACT

In one embodiment, a node comprises an interface to communicatively couple the node to a channel. The channel communicatively couples the node to a first neighbor node in a first direction and to a second neighbor node in a second direction. When the first neighbor node is scheduled to transmit and the node receives data from the first neighbor node via the channel, the node determines if the transmission of the data complies with a policy. When the transmission of the data does not comply with the policy, the node does at least one of: blocks the data from being relayed along the channel and relays the data along the channel with information indicating that the transmission of the data does not comply with the policy.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is related to and claims the benefit of the filing dateof U.S. Provisional Application No. 60/523,892, filed on Nov. 19, 2003,and U.S. Provisional Application No. 60/523,865, filed on Nov. 19, 2003,both of which are incorporated herein by reference.

This application is related to the following applications filed on evendate herewith, all of which are hereby incorporated herein by reference:

U.S. patent application Ser. No. 10/994,209, entitled “CLIQUEAGGREGATION IN TDMA NETWORKS.”

U.S. patent application Ser. No. 10/993,931, entitled “UNSYNCHRONOUSMODE BROTHER'S KEEPER BUS GUARDIAN FOR A RING NETWORKS.”

U.S. patent application Ser. No. 10/993,933, entitled “HIGH INTEGRITYDATA PROPAGATION IN A BRAIDED RING.”

U.S. patent application Ser. No. 10/993,932, entitled “DIRECTIONALINTEGRITY ENFORCEMENT IN A BI-DIRECTIONAL BRAIDED RING NETWORK.”

U.S. patent application Ser. No. 10/993,162, entitled “MESSAGE ERRORVERIFICATION USING CHECKING WITH HIDDEN DATA” and which is also referredto here as the “H0005061 Application.”

TECHNICAL FIELD

The following description relates to communication systems in generaland to distributed, fault-tolerant communication systems in particular.

BACKGROUND

Distributed, fault-tolerant communication systems are used, for example,in applications where a failure could possibly result in injury or deathto one or more persons. Such applications are referred to here as“safety-critical applications.” One example of a safety-criticalapplication is in a system that is used to monitor and manage sensorsand actuators included in an airplane or other aerospace vehicle.

One architecture that is commonly considered for use in suchsafety-critical applications is the Time-Triggered Architecture (TTA).In a TTA system, multiple nodes communicate with one another over tworeplicated high-speed communication channels using, for example, theTime Triggered Protocol/C (TTP/C) or the FLEXRAY protocol. In someembodiments, at least one of the nodes in such a TTA system is coupledto one or more sensors and/or actuators over two replicated, low-speedserial communication channels using, for example, the Time TriggeredProtocol/A (TTP/A).

In one configuration of such a TTA system, various nodes communicatewith one another over two, replicated communication channels, each ofwhich is implemented using a star topology. In such a configuration,each channel includes an independent, centralized bus guardian. Eachsuch centralized bus guardian represents a single point of failure forthe respective channel. In another configuration of a TTA system isimplemented using a linear bus topology in which various nodescommunicate with one another over two, replicated communication channelsand where each node includes a separate, independent bus guardian foreach communication channel to which that node is coupled. In otherwords, where two communication channels are used, each node includes twoindependent bus guardians. Providing multiple independent bus guardianswithin each node, however, may not be suitable for some applications(for example, due to the increased cost associated with providingmultiple bus guardians within each node).

SUMMARY

In one embodiment, a node comprises an interface to communicativelycouple the node to a channel. The channel communicatively couples thenode to a first neighbor node in a first direction and to a secondneighbor node in a second direction. When the first neighbor node isscheduled to transmit and the node receives data from the first neighbornode via the channel, the node determines if the transmission of thedata complies with a policy. When the transmission of the data does notcomply with the policy, the node does at least one of: blocks the datafrom being relayed along the channel and relays the data along thechannel with information indicating that the transmission of the datadoes not comply with the policy.

The details of one or more embodiments of the claimed invention are setforth in the accompanying drawings and the description below. Otherfeatures and advantages will become apparent from the description, thedrawings, and the claims.

DRAWINGS

FIG. 1 is a block diagram of one embodiment of a communication network.

FIG. 2 is flow diagram of one embodiment of a method of transmittingdata in the network of FIG. 1.

FIG. 3A is flow diagram of an embodiment of a method of relaying data inthe network of FIG. 1.

FIG. 3B is flow diagram of an embodiment of a method of relaying data inthe network of FIG. 1.

FIGS. 4A-4B are flow diagrams of an embodiment of a method of relayingdata in the network of FIG. 1.

FIG. 5 is a block diagram illustrating logical components of a node thatare used to implement, in one example, the comparison and relayingprocessing of the methods and shown in FIGS. 3 and 4A-4B.

FIG. 6 is block diagram illustrating one example of a babbling nodefault occurring in the network of FIG. 1 while such nodes are operatingin a synchronized mode.

FIGS. 7A-7B are flow diagrams of one embodiment of a method ofcommunicating in the network of FIG. 1 while operating in anunsynchronized mode.

FIG. 8 illustrates an exemplary scenario in which two cliques form inthe network of FIG. 1.

FIG. 9 is flow diagram of one embodiment of a method of resolvingcliques in a network of FIG. 1.

FIG. 10 is a block diagram illustrating one example of the operation ofthe method of FIG. 9 using an a priori ordering of the nodes of thenetwork of FIG. 1.

FIG. 11 is a block diagram of one embodiment of a node that is suitablefor implementing each node of the network shown in FIG. 1.

FIG. 12 is a flow diagram of one embodiment of a method of detectingdirectional integrity in the network of FIG. 1.

FIG. 13 is a flow diagram of one embodiment of a method ofreconstituting integrity in the network of FIG. 1.

FIG. 14 is a flow diagram of one embodiment of a method ofreconstituting integrity in the network of FIG. 1.

Like reference numbers and designations in the various drawings indicatelike elements.

DETAILED DESCRIPTION

FIG. 1 is a block diagram of one embodiment of a communication network100. Communication network 100 includes multiple nodes 102. Each node102 of the network 100 is communicatively coupled to at least onechannel 106. For a given direction in which data flows in the channel106, the channel 106 communicatively directly couples (that is, withonly one hop) each node 102 to at least two other nodes 102 from whichthat node 102 receives data (also referred to here as “receive-fromnodes”) and to at least two other nodes 102 to which that node 102transmits data (also referred to here as the “transmit-to nodes”). Inone embodiment, one of the received-from nodes 102 is designated as a“primary” receive-from node 102 and the other receive-from nodes 102 aredesignated as “secondary” receive-from nodes 102. When a node 102“relays” data on a channel 106 in a given direction, that node 102receives data from the primary receive-from node 102 for that channel106 and direction and forwards the receive data onto each of thetransmit-to nodes designated for that node 102 for that channel 106 anddirection. Data received by a node from the secondary receive-from nodes102 is used for the various comparison operations described below and/oris relayed in the event that suitable data is not received from theprimary receive-from node. When a given node 102 “transmits” data (thatis, when the given node 102 is the source of data communicated on thenetwork 100) along a channel 106 in a given direction, that node 102transmits the data to each of the transmit-to nodes 102 designated forthat node 102 for that channel 102 and direction.

In the particular embodiment shown in FIG. 1, the nodes 102 are arrangedin a ring 104 having a “braided ring” topology in which the nodes 102communicate with one another over multiple communication channels 106.In the particular embodiment shown in FIG. 1, eight nodes 102communicate with one another over two replicated communication channels106. In other embodiments, a different number and/or type of nodes 102and/or channels 106 and/or a different network topology are used.

Embodiments of network 100 are implemented using various media accessschemes. For example, the embodiment shown in FIG. 1 is described hereas being implemented using time division multiple access (TDMA) mediaaccess scheme (for example, the media access scheme implemented in theTTP/C or FLEXRAY protocols). In other embodiments, other media accessschemes are used.

The eight nodes 102 shown in FIG. 1 are also individually labeled inFIG. 1 with the letters A through H and are referred to hereindividually as “node A,” “node B,” and so forth. As used herein, a“neighbor node” (or just “neighbor”) is a node that is immediately nextto a given node 102 in the ring 104. Each node 102 has two “neighbornodes 102, one in the clockwise direction (also referred to here as the“clockwise neighbor node” or “clockwise neighbor”) and one in thecounter-clockwise direction (also referred to here as the“counter-clockwise neighbor node” or “counter-clockwise neighbor”). Forexample, the neighbor nodes 102 for node A are node H in the clockwisedirection and node B in the counter-clockwise direction.

In addition, as used herein, a “neighbor's neighbor node” (or just“neighbor's neighbor”) for a given node 102 is the neighbor node 102 ofthe neighbor node 102 of the given node 102. Each node 102 has twoneighbor's neighbor nodes 102, one in the clockwise direction (alsoreferred to here as the “clockwise neighbor's neighbor node” or“clockwise neighbor's neighbor”) and one in the counter-clockwisedirection (also referred to here as the “counter-clockwise neighbor'sneighbor node” or “counter-clockwise neighbor's neighbor”). For example,the two neighbor's neighbor nodes for node A are node G in the clockwisedirection and node C in the counter-clockwise direction.

The two communication channels 106 are individually labeled in FIG. 1(and are also referred to here) as “channel 0” and “channel 1”respectively. In the embodiment shown in FIG. 1, each of the channels106 is formed using multiple point-to-point, unidirectional serial links108. Channel 0 interconnects the node 102 in the clockwise directionaround the ring 104 and channel 1 interconnects the nodes 102 in thecounter-clockwise direction around the ring 104. In other embodiments,other types of links are used. For example, in one such otherembodiment, bidirectional links are used and the devices, systems, andtechniques described here are performed for each direction in whichcommunications occur.

As used here, when a link 108 is described as being connected “from” afirst node 102 “to” a second node 102, the link 108 provides acommunication path for the first node 102 to send data to the secondnode 102 over the link 108. That is, the direction of thatunidirectional link 108 is from the first node 102 to the second node102.

A link 108 is connected from each node 102 to that node's clockwiseneighbor node 102. A link 108 is also connected from each node 102 tothat node's clockwise neighbor's neighbor node 102. For example, a link108 is connected from node A to node H and a link 108 is connected fromnode A to node G. These clockwise links 108 make up channel 0 and areshown in FIG. 1 using solid lines.

A link 108 is connected from each node 102 to that node'scounter-clockwise neighbor node 102. A link 108 is also connected fromeach node 102 to that node's counter-clockwise neighbor's neighbor node102. For example, a link 108 is connected from node A to node B and alink 108 is connected from node A to node C. These counter-clockwiselinks 108 make up channel 1 and are shown in FIG. 1 using dashed lines.

The links 108 that connect a given node 102 to that node's respectiveclockwise and counter-clockwise neighbor nodes are also referred to hereas “direct” links 108. The links 108 that connect a given node 102 tothat node's respective clockwise and counter-clockwise neighbor'sneighbors are referred to here as “skip” links 108.

In the particular embodiment shown in FIG. 1, for channel 0, thereceive-from nodes for each node 102 are that node's counter-clockwiseneighbor and counter-clockwise neighbor's neighbor and the transmit-tonodes for each node 102 are that node's clockwise neighbor and clockwiseneighbor's neighbor. In the embodiments described herein, the primaryreceive-from node is node's counter-clockwise neighbor (though in otherembodiments, the primary receive-from node is the node'scounter-clockwise neighbor's neighbor). In the particular embodimentshown in FIG. 1, for channel 1, the receive-from nodes for each node 102are that node's clockwise neighbor and clockwise neighbor's neighbor andthe transmit-to nodes for each node 102 are that node'scounter-clockwise neighbor and counter-clockwise neighbor's neighbor. Inthe embodiments described herein, the primary receive-from node isnode's clockwise neighbor.

In the particular embodiment shown in FIG. 1, the network 100 isimplemented as a peer-to-peer network in which each transmission isintended to be received by each node 102 of the network 100. In otherembodiments, each transmission is intended for a particular destinationnode. Moreover, in the embodiments described here, data are communicatedin the network 100 in the form of frames of data though it is to beunderstood that, in other embodiments, other units of data arecommunicated over the network 100.

In the embodiment described here in connection with FIGS. 1-5, the nodes102 in the network 100 operate in at least two modes—an unsynchronizedmode and a synchronized mode. When operating in a synchronized mode, thenodes 102 are synchronized to a global time base and transmit inaccordance with a TDMA media access scheme. With such a TDMA mediaaccess scheme, a schedule is used to determine when the nodes 102 in thenetwork 100 transmit during a given schedule period or round. During agiven schedule period, various nodes 102 in the network 100 are assigneda respective time slot in which to transmit. In other words, for anygiven time slot, the node 102 assigned to that time slot is allowed totransmit during that time slot (also referred to here as the “schedulednode” 102). In this embodiment, the scheduled node performs theprocessing described below in connection with FIG. 2. The other nodes102 in the network 100 perform the relay processing described below inconnection with FIGS. 3A-3B and 4A-4B.

When the nodes 102 are operating in an unsynchronized mode, the nodes102 have not yet synchronized to a global time base and are not yettransmitting in accordance with a TDMA schedule. FIGS. 7A-7B illustrateat least a portion of the processing performed, in one embodiment, bythe nodes 102 of the network 100 while operating in an unsynchronizedmode.

FIG. 2 is flow diagram of one embodiment of a method 200 of transmittingdata in the network 100 of FIG. 1. The embodiment of method 200 shown inFIG. 2 is described here as being implemented in the embodimentdescribed here in connection with FIGS. 1-5. Method 200 is performed bya node 102 that is operating in a synchronized mode in accordance with aTDMA schedule. Each node 102, in such an embodiment, performs theprocessing of method 200 when that node 102 is the scheduled node 102(that is, when the current time slot is assigned to that node 102 by theTDMA schedule). In the context of FIG. 2, the node 102 that isperforming the processing of method 200 is referred to here as the“current” node 102. In one embodiment, at least a portion of thefunctionality described here as being performed by the current node 102is implemented in a controller included in the node 102. Otherembodiments of method 200 are implemented in other ways.

The current node 102 performs the processing of method 200 when thecurrent node 102 determines that that node 102, in accordance with theTDMA schedule, is allowed to transmit on the network 100 (block 202).Each node 102 in the network 100 maintains information necessary to makesuch a determination. In the embodiment of FIGS. 1-5, such informationincludes information related to the TDMA schedule and the global timebase to which the nodes 102 are synchronized.

When the current node 102 is allowed to transmit and the node 102 hasdata to transmit (checked in block 204), the current node 102 transmitsa frame of data, along channel 0, to the current node's clockwiseneighbor and clockwise neighbor's neighbor (block 206) and, alongchannel 1, to the current node's counter-clockwise neighbor andcounter-clockwise neighbor's neighbor (block 208). The current node 102transmits the frame to the current node's clockwise andcounter-clockwise neighbors using the respective direct links 108. Thecurrent node 102 transmits the frame to the current node's clockwise andcounter-clockwise neighbor's neighbors using the respective skip links108. In one implementation of such an embodiment, the current node 102includes a first transceiver that transmits the frame on channel 0 tothe current node's clockwise neighbor and clockwise neighbor's neighborand a second transceiver that transmits the frame on channel 1 to thecurrent node's counter-clockwise neighbor and counter-clockwiseneighbor's neighbor.

FIG. 3A is flow diagram of one embodiment of a method 300 of relayingdata in the network 100 of FIG. 1. When a node “relays” data, the node102 receives data from one or more receive-from nodes and forwards thereceived data onto the one or more transmit-to nodes. That is, when anode 102 is relaying data, the node 102 is not the source of the datathat the node 102 is forwarding onto other nodes. The embodiment ofmethod 300 shown in FIG. 3A is described here as being implemented inthe braided-ring embodiment described here in connection with FIGS. 1-5.In other embodiments, method 300 is implemented using other networktopologies. One example of an alternative network topology in whichmethod 300 can be implemented is a network topology that comprises two“simplex” ring channels. In one implementation of such a simplex ringnetwork, the network uses a topology similar to the one shown in FIG. 1except that there are no skip links that communicatively couple eachnode to its clockwise and counter-clockwise neighbor's neighbors.

Method 300 is performed by a node 102 that is operating in asynchronized mode in accordance with a TDMA schedule. Each node 102, insuch an embodiment, performs the processing of method 300 when one ofthat node's neighbors is the scheduled node 102 for the current timeslot. In the context of FIG. 3A, the node 102 performing the processingof method 300 is referred to here as the “current” node 102. In oneembodiment, at least a portion of the functionality described here asbeing performed by the current node 102 is implemented in a controllerincluded in the node 102. Other embodiments of method 300 areimplemented in other ways.

The current node 102 performs the processing of method 300 when thecurrent node 102 determines that one of the neighbors of the currentnode 102 is scheduled to transmit during the current time slot (checkedin block 302). Such a neighbor is also referred to here in the contextof FIG. 3A as the “scheduled neighbor.” In the embodiment of FIGS. 1-5,the current node 102 makes this determination based on informationincluding the TDMA schedule and the global time base to which the nodes102 are synchronized.

When the current node 102 determines that one of its neighbors is thescheduled node for the current time slot, the current node 102 onlyrelays frames sourced from the scheduled neighbor that are received bythe current node 102 from the scheduled neighbor via the direct link 108that couples the scheduled neighbor to the current node 102. That is, ifthe current node 102 receives a frame that is sourced from a node 102other than the scheduled neighbor, the current node 102 does not relaythat frame.

When the current node 102 start receiving a frame from the scheduledneighbor (checked in block 304), the current node 102 checks if thetransmission complies with one or more policies that are implemented inthe network 100. In the particular embodiment shown in FIG. 3A, thecurrent node 102 checks if the transmission complies with a temporalpolicy that specifies, for example, a particular window in which atransmission must start (checked in block 306). In one implementation ofsuch an embodiment where the TTP/C or FLEXRAY protocol is supported, thecurrent node 102 checks if the transmission complies with the temporaltransmission requirements of the supported protocol. In the embodimentshown in FIG. 3A, if the transmission fails to comply with the temporalpolicy (for example, where a slightly-off-specification (SOS) faultoccurs), the current node 102 does not relay the current frame (block308). In an alternative embodiment (illustrated using dotted lines inFIG. 3A), if the transmission fails to comply with the temporal policy,the current node 102 relays the current frame along with the information(for example, an appended or shared integrity field) indicating that thetransmission has failed to comply with the temporal policy (block 309).In another embodiment (not shown), if the transmission fails to complywith a first aspect of the temporal policy, the current node 102 doesnot relay the transmission and if the transmission fails to comply witha different aspect of the temporal policy (while complying with thefirst aspect), the current node 102 relays the current frame along withinformation indicating that the transmission has failed to comply withthat aspect of the policy.

If the transmission complies with the temporal policy, the current node102 checks if the transmission complies with one or more other policies(block 310). For example, in one embodiment, the current node 102 checksif the transmission complies with one or more semantic policies (forexample, policies implementing semantic protocol state filtering). Inanother embodiment, where each frame includes a cyclic redundancy check(CRC) field that is calculated based on the contents of the frame, thecurrent node 102 checks the CRC field to determine if any errors havebeen introduced into the frame in the course of transmitting the framefrom the scheduled node to the current node 102. Another example of sucha policy is an encoding layer enforcement policy. In another example, aframe-length policy is used and the current node 102 checks the lengthof the current frame (in such an example, failures to comply with theframe-length policy would, for example, be processed as described inconnection with block 309 of FIG. 3A).

If the transmission fails to comply with one or more of the otherpolicies, the current node 102 does not relay the transmission (block308). In an alternative embodiment (shown in FIG. 3A using dashedlines), the current node 102 relays the current frame along with theinformation (for example, an appended or shared integrity field)indicating that the transmission has failed to comply with one or morepolicies (block 309). In another embodiment (not shown), if thetransmission fails to comply with a first policy, the current node 102does not relay the transmission and if the transmission fails to complywith a different policy (while complying with the first policy), thecurrent node 102 relays the current frame along with informationindicating that the transmission has failed to comply with the latterpolicy.

Otherwise, if the transmission complies with all the policies, thecurrent node 102 relays the current frame to the current node's nextneighbor and next neighbor's neighbor along the channel from which thecurrent frame is being received (block 312). For example, where thescheduled node is node A and the current node is node B, the currentnode relays the current frame to node C (node B's next neighbor alongchannel 1) and to node D (node B's next neighbor's neighbor alongchannel 1).

In other embodiments, the current node 102 checks if the transmissioncomplies with other policies instead of or in addition to the onesdescribed above. For example, in one such other embodiment, the currentnode 102 checks the directional integrity of the transmission by thescheduled node (for example, in the manner described below in connectionwith FIG. 12) and appends to the frame a field indicating whether theframe was transmitted with directional integrity.

FIG. 3B is flow diagram of another embodiment of a method 350 ofrelaying data in the network 100 of FIG. 1. The embodiment of method 350shown in FIG. 3B is described here as being implemented in thebraided-ring embodiment described here in connection with FIGS. 1-5. Inother embodiments, method 350 is implemented using other networktopologies. One example of an alternative network topology in whichmethod 350 can be implemented is a network topology that comprises two“simplex” ring channels. In one implementation of such a simplex ringnetwork, the network uses a topology similar to the one shown in FIG. 1except that there are no skip links that communicatively couple eachnode to its clockwise and counter-clockwise neighbor's neighbors.

Method 350 is performed by a node 102 that is operating in asynchronized mode in accordance with a TDMA schedule. Each node 102, insuch an embodiment, performs the processing of method 350 when one ofthat node's neighbors is the scheduled node 102 for the current timeslot. In the context of FIG. 3B, the node 102 performing the processingof method 350 is referred to here as the “current” node 102. In oneembodiment, at least a portion of the functionality described here asbeing performed by the current node 102 is implemented in a controllerincluded in the node 102. Other embodiments of method 350 areimplemented in other ways.

The current node 102 performs the processing of method 350 when thecurrent node 102 determines that one of the neighbors of the currentnode 102 is scheduled to transmit during the current time slot (checkedin block 352). Such a neighbor is also referred to here in the contextof FIG. 3B as the “scheduled neighbor.” In the embodiment of FIGS. 1-5,the current node 102 makes this determination based on informationincluding the TDMA schedule and the global time base to which the nodes102 are synchronized.

In method 350 (as in method 300 of FIG. 3A), when the current node 102determines that one of its neighbors is the scheduled node for thecurrent time slot, the current node 102 only relays frames sourced fromthe scheduled neighbor that are received by the current node 102 fromthe scheduled neighbor via the direct link 108 that couples thescheduled neighbor to the current node 102. That is, if the current node102 receives a frame that is sourced from a node 102 other than thescheduled neighbor, the current node 102 does not relay that frame.However, unlink in method 300 of FIG. 3A, in method 350 of FIG. 3B, thecurrent node 102 does not perform the “bus guardian” processingassociated with blocks 308-310.

When the current node 102 start receiving a frame from the scheduledneighbor (checked in block 354), the current node 102 relays thereceived frame to the current node's next neighbor and next neighbor'sneighbor along the channel from which that frame is being received(block 356). For example, where the scheduled node is node A and thecurrent node is node B, the current node relays the frame received fromnode A to node C (node B's next neighbor along channel 1) and to node D(node B's next neighbor's neighbor along channel 1).

FIGS. 4A-4B are flow diagrams of one embodiment of a method 400 ofrelaying data in the network 100 of FIG. 1. The embodiment of method 400shown in FIGS. 4A-4B is described here as being implemented in theembodiment described here in connection with FIGS. 1-5. Method 400 isperformed by a node 102 that is operating in a synchronized mode inaccordance with a TDMA schedule. Each node 102, in such an embodiment,performs the processing of method 400 when that node 102 is notscheduled to transmit during the current time slot and neither of thatnode's neighbors are scheduled to transmit during the current time slot.In the context of FIGS. 4A-4B, the node 102 performing the processing ofmethod 400 is referred to here as the “current” node 102. In oneembodiment, at least a portion of the functionality described here asbeing performed by the current node 102 is implemented in a controllerincluded in the node 102. Other embodiments of method 400 areimplemented in other ways.

The current node 102 performs the processing of method 400 when thecurrent node 102 is not scheduled to transmit during the current timeslot and neither of the current node's neighbors are scheduled totransmit during the current time slot (checked in block 402 of FIG. 4A).In the embodiment of FIGS. 1-5, the current node 102 makes thisdetermination based on information including the TDMA schedule and theglobal time base to which the nodes 102 are synchronized.

When the current node 102 determines that the current node 102 is notscheduled to transmit during the current time slot and neither of thecurrent node's neighbors are scheduled to transmit during the currenttime slot and the current node 102 starts to receive a frame from thecurrent node's counter-clockwise neighbor on channel 0 (checked in block404), the current node 102 compares the frame being received from thecurrent node's counter-clockwise neighbor on channel 0 to any frame thatis being received from the current node's counter-clockwise neighbor'sneighbor on channel 0 (block 406). In the embodiment shown in FIG. 4, abit-by-bit comparison is performed. Moreover, as described below inconnection FIG. 5, because the frames will likely be received at thecurrent node 102 at slightly different times, de-skew functionality isused to de-skew the received frames. The current node 102 relays theframe that is being received from the current node's counter-clockwiseneighbor on channel 0 to the current node's clockwise neighbor andclockwise neighbor's neighbor along the channel 0 (block 408). After thecurrent frame has been relayed and the comparison is complete, thecurrent node 102 relays information indicative of the results of thecomparison in or after the frame received from the current node'scounter-clockwise neighbor (block 410). The current node 102 relays theinformation indicative of the results of the comparison to the currentnode's clockwise neighbor and clockwise neighbor's neighbor along thechannel 0. In one embodiment, the information indicative of the resultsof the comparison comprises a one-bit, appended integrity field that thecurrent node 102 appends to the frame received from the current node'scounter-clockwise neighbor. In another embodiment, a shared integrityfield is included at the end of each frame. In such an embodiment, thecurrent node 102 sets the shared integrity field to a “negative” value(for example, a value of “0”) if the comparison indicates that the twoframes are not identical and, otherwise, does not alter the sharedintegrity field if the comparison indicates that the two frames areidentical.

If the current node 102 does not receive a frame from the current node'scounter-clockwise neighbor on channel 0 (for example, after apredetermined time-out period has elapsed) but starts to receive a framefrom the current node's counter-clockwise neighbor's neighbor on channel0 (checked in block 412), the current node 102 relays the frame that isbeing received from the current node's counter-clockwise neighbor'sneighbor on to the current node's clockwise neighbor and clockwiseneighbor's neighbor along the channel 0 (block 414). After that framehas been relayed, the current node 102 relays in or after that frameinformation indicating that there was a “mismatch” at the current node102 for channel 0 (block 416). The current node 102 relays thisinformation to the current node's clockwise neighbor and clockwiseneighbor's neighbor along the channel 0. Because no frame was receivedfrom the counter-clockwise neighbor of the current node 102, it is notthe case that a frame received from the counter-clockwise neighbor isidentical to the frame received from the counter-clockwise neighbor'sneighbor of the current node 102.

If the current node 102 does not receive a frame from the current node'scounter-clockwise neighbor on channel 0 or from the current node'scounter-clockwise neighbor's neighbor on channel 0, the current node 102does not relay any data along channel 0 for the current time slot (block418).

The current node 102 performs the same processing for frames receivedfrom channel 1. When the current node 102 determines that the currentnode 102 is not scheduled to transmit during the current time slot andneither of the current node's neighbors are scheduled to transmit duringthe current time slot and the current node 102 starts to receive a framefrom the current node's clockwise neighbor on channel 1 (checked inblock 420 of FIG. 4B), the current node 102 compares the frame beingreceived from the current node's clockwise neighbor on channel 1 to anyframe that is being received from the current node's clockwiseneighbor's neighbor on channel 1 (block 422). In the embodiment shown inFIG. 4, a bit-by-bit comparison is performed. Moreover, because theframes will likely be received at the current node 102 at slightlydifferent times, de-skew functionality is used to de-skew the receivedframes. The current node 102 relays the frame that is being receivedfrom the current node's clockwise neighbor on channel 1 to the currentnode's counter-clockwise neighbor and counter-clockwise neighbor'sneighbor along the channel 1 (block 424). After the current frame hasbeen relayed and the comparison is complete, the current node 102 relaysinformation indicative of the results of the comparison in or after theframe received from the current node's clockwise neighbor (block 426).The current node 102 relays the information indicative of the results ofthe comparison to the current node's counter-clockwise neighbor andcounter-clockwise neighbor's neighbor along the channel 1. In oneembodiment, an appended integrity field is used. In another embodiment,a shared integrity field is used.

If the current node 102 does not receive a frame from the current node'sclockwise neighbor on channel 1 (for example, after a predeterminedtime-out period has elapsed) but starts to receive a frame from thecurrent node's clockwise neighbor's neighbor on channel 1 (checked inblock 428), the current node 102 relays the frame that is being receivedfrom the current node's clockwise neighbor's neighbor on to the currentnode's counter-clockwise neighbor and counter-clockwise neighbor'sneighbor along the channel 1 (block 430). After that frame has beenrelayed, the current node 102 relays in or after that frame informationindicating that there was a “mismatch” at the current node 102 forchannel 1 (block 432). The current node 102 relays this information tothe current node's counter-clockwise neighbor and counter-clockwiseneighbor's neighbor along the channel 1. Because no frame was receivedfrom the clockwise neighbor of the current node 102, it is not the casethat a frame received from the clockwise neighbor is identical to theframe received from the clockwise neighbor's neighbor of the currentnode 102.

If the current node 102 does not receive a frame from the current node'sclockwise neighbor on channel 1 or from the current node's clockwiseneighbor's neighbor on channel 1, the current node 102 does not relayany data along channel 1 for the current time slot (block 434).

In one example, the current node 102 is node A and node E is the nodethat is scheduled to transmit during the current time slot. In such anexample, node A receives a frame from node B (node A's counter-clockwiseneighbor) via the respective direct link 108 of channel 0 and comparesthis frame to any frame node A receives from node C (node A'scounter-clockwise neighbor's neighbor) via the respective skip link 108of channel 0. Node A relays the frame that is being received from node Band the information indicative of the results of the comparison to nodeH (node A's next neighbor along channel 0) and to node G (node A's nextneighbor's neighbor along channel 0). In such an example, node A alsoreceives a frame from node H (node A's clockwise neighbor) via therespective direct link 108 of channel 1 and compares this frame to anyframe node A receives from node G (node A's clockwise neighbor'sneighbor) via the respective skip link 108 of channel 1. Node A relaysthe frame received from node H and the information indicative of theresults of the comparison to node B (node A's next neighbor alongchannel 1) and to node C (node A's next neighbor's neighbor alongchannel 1).

In the embodiments illustrated in FIG. 4, if frames are received by thecurrent node 102 on both the direct link 108 and the skip link 108, thecurrent node 102 relays the frame received on the direct link 108. Inother embodiments, if frames are received by the current node 102 onboth the direct link 108 and the skip link 108, the current node 102relays the frame received on the skip link 108.

FIG. 5 is a block diagram illustrating logical components of a node 102that are used to implement, in one example, the comparison and relayingprocessing of methods 300 and 400 of FIGS. 3 and 4A-4B, respectively.The node 102 that is performing the particular comparison and relayingprocessing is referred to, in the context of FIG. 5, as the current node102. The logical components of the current node 102 used to the performcomparison and relaying processing for frames received on channel 0 areshown in FIG. 5. It is to be understood the comparison and relayingprocessing for frames received on channel 1 are performed using logicalcomponents similar to those shown in FIG. 5.

In the example shown in FIG. 5, the current node 102 includes a firstdirect link interface 502 that communicatively couples the current node102 to the counter-clockwise direct link 108 of channel 0, which isconnected to the current node's counter-clockwise neighbor. The currentnode 102 also includes a first skip link interface 504 thatcommunicatively couples the current node 102 to the counter-clockwiseskip link 108 of channel 0, which is connected to the current node'scounter-clockwise neighbor's neighbor. A direct link first-in-first-out(FIFO) buffer 506 is coupled to the first direct link interface 502 anda skip link FIFO buffer 508 is coupled to the first skip link interface504. The first direct link interface 502 and the first skip linkinterface 504 receive data from the direct link 108 and the skip link108, respectively, and store the received data in the direct link FIFObuffer 506 and the skip link FIFO buffer 508, respectively.

The current node 102 includes a second direct link interface 510 thatcommunicatively couples the current node 102 to the clockwise directlink 108 of channel 0, which is connected to the current node'sclockwise neighbor. The current node 102 also includes a second skiplink interface 512 that communicatively couples the current node 102 tothe clockwise skip link 108 of channel 0, which is connected to thecurrent node's clockwise neighbor's neighbor.

In the example shown in FIG. 5, the current node 102 includes a de-skewand compare module 514 that “de-skews” and compares the frames receivedfrom the current node's counter-clockwise neighbor and counter-clockwiseneighbor's neighbor. In the particular example shown in FIG. 5, thecurrent node 102 includes a single transmitter 516 that is used totransmit data to both the current node's clockwise neighbor and thecurrent node's clockwise neighbor's neighbor. The output of thetransmitter 516 is coupled to both the second direct link interface 510and the second skip link interface 512 in order to transmit to thecurrent node's clockwise neighbor and the current node's clockwiseneighbor's neighbor, respectively.

For given transmission during a given time slot, the current node 102will typically receive start receiving respective frames on the firstdirect link interface 502 and the first skip link interface 504 atdifferent times. For example, where the comparison and relayingprocessing is performed in connection with blocks 406-410 and 414-418 ofFIG. 4, the current node 102, for a given transmission, will typicallystart receiving a frame on the first skip link interface 504 before thecurrent node 102 starts receiving a corresponding frame on the firstdirect link interface 502. This is because, in such an example, theframe received at the first skip link interface 504 travels through oneless hop than the frame received on the first direct link interface 502(that is, the frame received on the first skip link interface 504“skips” the current node's counter-clockwise neighbor).

In the example shown in FIG. 5, the de-skew and compare module 514 andthe transmitter 516 wait until both FIFO buffers 506 and 508 are halffull before performing the comparison and relaying of the received data.In other embodiments, other de-skew techniques are used in addition toor instead of the one described above.

In the particular example shown in FIG. 5, a bit-by-bit comparison ofthe two received frames is performed by the de-skew and compare module514.

As data is received at the first direct link interface 502, the receiveddata is written into the input end of the direct link FIFO buffer 506.Also, as data is received at the skip link interface 504, the receiveddata is written into the input end of the skip link FIFO buffer 508. Thedetermination as to whether a frame is being received on the firstdirect link interface 502 is made by detecting a start-of-framedelimiter in the data received from that interface 502. Likewise, thedetermination as to whether a frame is being received on the first skiplink interface 504 is made by detecting a start-of-frame delimiter inthe data received from that interface 504.

If a frame is being received on both the first direct link interface 502and the first skip link interface 504, when both FIFO buffers 506 and508 are half full, the de-skew and compare module 514 starts receivingbits from the respective outputs ends of the first and second FIFObuffers 506 and 508 and the transmitter 516 start receiving bits fromthe output end of the FIFO buffer 506. The de-skew and compare module514, as it receives bits from the first and second FIFO buffers 506 and508, performs the bit-by-bit comparison of the two received frames. Thetransmitter 516, as it receives bits from the first FIFO buffer 506,relays the received bits along channel 0 to the counter-clockwiseneighbor and counter-clockwise neighbor's neighbor. When the de-skew andcompare module 514 has compared the end of both frames, the de-skew andcompare module 514 outputs, to the transmitter 516, a bit that indicateswhether the two frames were or were not identical. The transmitter 516receives the bit output by the de-skew and compare module 514 and“appends” the bit to the end of the relayed frame by transmitting thebit after the relayed frame.

If a frame is being received on the first direct link interface 502 butnot on the first skip link interface 504, when the first FIFO buffer 506is half full, the de-skew and compare module 514 and the transmitter 516start receiving bits from the output end of the first FIFO buffer 506.The de-skew and compare module 514 outputs, to the transmitter 516, abit that indicates that a mismatch has occurred for channel 0 at thecurrent node 102. The transmitter 516, as it receives bits from thefirst FIFO buffer 506, relays the received bits along channel 0 to thecounter-clockwise neighbor and counter-clockwise neighbor's neighbor.The transmitter 516 receives the bit output by the de-skew and comparemodule 514 and “appends” the bit to the end of the relayed frame bytransmitting the bit after the relayed frame.

In the case of processing performed for method 400 of FIG. 4, if a frameis being received on the first skip link interface 504 but not on thefirst direct link interface 502, when the second FIFO buffer 508 is halffull, the de-skew and compare module 514 and the transmitter 516 startreceiving bits from the output end of the second FIFO buffer 508. Thede-skew and compare module 514 outputs, to the transmitter 516, a bitthat indicates that a mismatch has occurred for channel 0 at the currentnode 102. The transmitter 516, as it receives bits from the second FIFObuffer 508, relays the received bits along channel 0 to thecounter-clockwise neighbor and counter-clockwise neighbor's neighbor.The transmitter 516 receives the bit output by the de-skew and comparemodule 514 and “appends” the bit to the end of the relayed frame bytransmitting the bit after the relayed frame.

Embodiments of network 100 provide improved fault tolerance while thenodes 102 of the network 100 are operating in a synchronous mode. Forexample, embodiments of network 100 provide improved transportavailability and improved transport integrity. Improved transportavailability is provided by, for example, the use of the two,independent opposing communication channels 0 and 1. Data that istransmitted by a node 102 in the network 100 travels to each of theother nodes 102 in the network 100 via two independent communicationpaths. For example, data transmitted by node A of the network 100travels to node E via a first path traveling counter-clockwise onchannel 0 from node A to nodes B, C, D, and E and via a second pathtraveling clockwise on channel 1 from node A to nodes H, G, F, and E. Asa result, despite any single point of failure on one of these paths,there will be another path by which data can successfully travel to nodeE.

In the embodiment shown in FIGS. 1-4, a CRC protocol field is includedin each frame that is transmitted around the network 100. Such CRCfields are well-suited for addressing random errors. Errors resultingfrom noise on the direct links 108 between a transmitting node and thetransmitting node's clockwise neighbor and counter-clockwise neighborhave such a random nature. However, errors introduced by an activeinter-stage may be correlated in nature, such that a CRC field may notbe well-suited for addressing such errors. The bit-by-bit comparisonperformed by a node 102 when performing the processing of method 400will detect any errors introduced by a previous node, thereby addressingsuch active inter-stage induced errors. Relaying in this manner improvestransport integrity in the network 100.

FIG. 6 is block diagram illustrating one example of a babbling nodefault occurring in the network 100 of FIG. 1 while such nodes 102 areoperating in a synchronized mode. In the example shown in FIG. 6, eachnode 102 in the network 100 implements the methods 200, 300, and 400 ofFIG. 24. In this example, node A has a babbling node fault during thetime slot in which node F is scheduled to transmit. The fault causesnode A to transmit to node A's clockwise neighbor node H along channel 0and to node A's counterclockwise neighbor node B along channel 1. Whennode H receives from channel 0 the frame transmitted by node A, thecomparison that node H performs between the frame received from node A(node H's counterclockwise neighbor) and the frame received from node B(node H's counterclockwise neighbor's neighbor) will indicate that thetwo frames are not identical. As result, node H relays on channel 0 theframe received from node A along with information indicating that amismatch occurred at node H. Likewise, when node B receives from channel1 the frame transmitted by node A, the comparison that node B performsbetween the frame received from node A (node B's clockwise neighbor) andthe frame received from node B (node B's clockwise neighbor's neighbor)will indicate that the two frames are not identical. As result, node Brelays on channel 1 the frame received from node A along withinformation indicating that a mismatch occurred at node H.

The links 108 of channel 0 and channel 1 that are affected by node A'stransmission are shown in FIG. 6 using dashed lines. The direct link 108in channel 0 from node A to node H and the direct and skip links 108 inchannel 0 from nodes H to node G, from node G to node F, and from node Fto node E are affected by the faulty transmission by node A. The directlink 108 in channel 1 from node A to node B and the direct and skiplinks 108 in channel 1 from node B to node C, from node C to node D, andfrom node D to node E are affected by the faulty transmission by node A.

Data transmitted by node F along channel 0 is received and relayed bynodes D, C, and B because the links 108 in this part of channel 0 arenot affected by node A's transmissions. Likewise, data transmitted bynode F along channel 1 is received and relayed by nodes F, G, and Hbecause the links 108 in this part of channel 1 are not affected by nodeA's transmissions. The links 108 of channel 0 and channel 1 that are notaffected by node A's transmissions and over which node F is able totransmit successfully are shown in FIG. 6 using solid lines. In thisway, data transmitted by node F is able to reach each of the nodes 102in the ring 104 despite the babbling node fault occurring at node A.

In another example, a slightly-off-specification (SOS) failure or faultoccurs in the communication network 100 of FIG. 1 while the nodes 102are operating in a synchronized mode. A SOS fault occurs when a frame isreceived within the receive window of some nodes 102 in the network 100and slightly outside the receive window of other nodes 102 in thenetwork 100. Upon the occurrence of an SOS failure, the former set ofnodes 102 accept the frame as a correct frame while the latter set ofnodes 102 reject the frame as an incorrect frame. In other words,different sets of correct nodes 102 in the network 100 will have adifferent view of the same frame, which is undesirable.

In this example, a SOS failure occurs in node A. In such a failure,during the time slot assigned to node A for node A to transmit, faultynode A transmits at a point in time that would (if node A'stransmissions were relayed fully around the ring 104) result in nodes B,C, H and G receiving the transmission as correct and nodes D, E, and Freceiving the transmission as incorrect.

Nodes B and H, as neighbors of node A, will check if the transmission bynode A complies with the temporal policy implemented in the network 100.In such an example, node B will determine that the frame received fromnode A on channel 1 does not comply with the temporal policy and,therefore, will not relay the frame any further along channel 1.Likewise, node H will determine that the frame received from node A onchannel 0 does not comply with the temporal policy and, therefore, willnot relay the frame any further along channel 0. In this way, the impactof such SOS failures is reduced.

When operating in an unsynchronized mode, the nodes 102 have not yetsynchronized to a global time base and are not yet transmitting inaccordance with a TDMA schedule. Thus, the nodes 102 of the network 100must take steps to deal with transmission collisions. FIGS. 7A-7B areflow diagrams of one embodiment of a method 700 of communicating in thenetwork 100 of FIG. 1 while operating in an unsynchronized mode. In suchan embodiment, each node 102 in the network 100 performs the processingof method 700 when that node 102 is operating in an unsynchronized mode.In the context of FIGS. 7A-7B, the node 102 performing the processing ofmethod 700 is referred to here as the “current” node 102. In oneembodiment, at least a portion of the functionality described here asbeing performed by the current node 102 is implemented in a controllerincluded in the node 102. Other embodiments of method 700 areimplemented in other ways.

The particular embodiment of method 700 shown in FIGS. 7A-7B performedby the current node 102 when that node “wakes up” (checked in block 702of FIG. 7). For example, the current node 102 wakes up when that node102 is initially powered-on or after the node 102 has been reset. Whenthe current node 102 wakes up, the current node 102 does not relay anydata that the current node 102 receives from any of the links 108 for apredetermined period of time (block 704). That is, the current node 102“blocks” any transmissions made by other nodes 102 in the network 100 bynot relaying the data from such transmissions any further along thechannels 0 and 1 of the network 100. The predetermined period of timefor which the current node 102 blocks such transmissions is alsoreferred to here as the “first block period.” In one implementation ofsuch an embodiment where the TTP/C protocol is used, the first blockperiod is set to the minimal inter-frame gap (IFG).

After the first block period has elapsed, the current node 102 stopsblocking all transmissions that are received by the current node 102.When the current node 102 receives data from the counter-clockwiseneighbor of the current node 102 on channel 0 via the direct link 108(checked in block 706), the current node 102 checks if thecounter-clockwise neighbor sourced the received data (block 708). In oneembodiment, the current node 102 makes this determination by checking,for a predetermined “comparison” period of time, if the current node 102is receiving the same data from the current node's counter-clockwiseneighbor's neighbor on channel 0 as the current node 102 is receivingfrom the counter-clockwise neighbor on channel 0. If the current node102 determines that it is not receiving the same data from the currentnode's counter-clockwise neighbor's neighbor on channel 0, the currentnode 102 concludes that the counter-clockwise neighbor is the source ofthe data being received from that neighbor. If the current node 102determines that it is receiving the same data from the current node'scounter-clockwise neighbor's neighbor on channel 0, the current node 102concludes that the counter-clockwise neighbor is not the source of thedata being received from that neighbor.

If the counter-clockwise neighbor did not source the data being receivedfrom that neighbor, the current node 102 relays that data along channel0 to the current node's clockwise neighbor node and clockwise neighbor'sneighbor (block 710).

If the counter-clockwise neighbor sourced the data being received fromthat neighbor, the current node 102, for a predetermined period of time,relays data received on channel 0 that was sourced by thecounter-clockwise neighbor (block 712). This predetermined period oftime is also referred to here as the “relay period.” In oneimplementation of such an embodiment where the TTP/C protocol is used,the relay period is at least long enough for a cold start message to betransmitted around the network 100. The current node 102 relays suchdata along channel 0 to the current node's clockwise neighbor node andclockwise neighbor's neighbor. During the relay period, the current node102 does not relay any data received on channel 0 that was sourced by anode other than the current node's counter-clockwise neighbor.

When the relay period has elapsed (checked in block 714), the currentnode 102 does not relay, for a predetermined period of time, datareceived on channel 0 that was sourced by the counter-clockwiseneighbor. This predetermined period of time is also referred to here asthe “second block period.” In one implementation of such an embodimentwhere the TTP/C protocol is used, the relay period is at least longenough for another node 102 in the network 100 to initiate thetransmission of a cold start message. During the second block period, ifthe current node 102 receives data on channel 0 that was not sourced bythe counter-clockwise neighbor, the current node 102 relays the receiveddata along channel 0 to the current node's clockwise neighbor node andclockwise neighbor's neighbor (block 716). In the embodiment shown inFIGS. 7A-7B, the current node 102 determines if data received on channel0 was sourced by the counter-clockwise neighbor by comparing the datareceived from the counter-clockwise neighbor to any corresponding datareceived from the current node's counter-clockwise neighbor's neighboron channel 0.

After the second block period elapses (checked in block 718), thecurrent node 102 ceases blocking data received on channel 0 that wassourced by the counter-clockwise neighbor (looping back to 706).

Similar processing is performed for channel 1 after the first blockperiod has elapsed. After the first block has elapsed, when the currentnode 102 receives data from the counter-clockwise neighbor of thecurrent node 102 on channel 1 via the direct link 108 (checked in block720 of FIG. 7B), the current node 102 checks if the clockwise neighborsourced the received data (block 722). In one embodiment, the currentnode 102 makes this determination by checking, for a predeterminedperiod of time, if the current node 102 is receiving the same data fromthe current node's clockwise neighbor's neighbor on channel 1 as thecurrent node 102 is receiving from the clockwise neighbor on channel 1.If the current node 102 determines that it is not receiving the samedata from the current node's clockwise neighbor's neighbor on channel 1,the current node 102 concludes that the clockwise neighbor is the sourceof the data being received from that neighbor. If the current node 102determines that it is receiving the same data from the current node'sclockwise neighbor's neighbor on channel 1, the current node 102concludes that the clockwise neighbor is not the source of the databeing received from that neighbor.

If the clockwise neighbor did not source the data being received fromthat neighbor, the current node 102 relays that data along channel 1 tothe current node's counter-clockwise neighbor node and counter-clockwiseneighbor's neighbor (block 724).

If the clockwise neighbor sourced the data being received from thatneighbor, the current node 102, for the relay period, relays datareceived on channel 1 that was sourced by the clockwise neighbor (block726). The current node 102 relays such data along channel 1 to thecurrent node's counter-clockwise neighbor node and counter-clockwiseneighbor's neighbor. During the relay period, the current node 102 doesnot relay any data received on channel 1 that was sourced by a nodeother than the current node's clockwise neighbor.

When the relay period has elapsed (checked in block 728), the currentnode 102 does not relay, for the second block period, data received onchannel 1 that was sourced by the clockwise neighbor. During the secondblock period, if the current node 102 receives data on channel 1 thatwas not sourced by the clockwise neighbor, the current node 102 relaysthe received data along channel 1 to the current node'scounter-clockwise neighbor node and counter-clockwise neighbor'sneighbor (block 730). In the embodiment shown in FIGS. 7A-7B, thecurrent node 102 determines if data received on channel 1 was sourced bythe clockwise neighbor by comparing the data received from the clockwiseneighbor to any corresponding data received from the current node'sclockwise neighbor's neighbor on channel 1. After the second blockperiod has elapsed (checked in block 732), the current node 102 ceasesblocking data received on channel 1 that was sourced by the clockwiseneighbor (looping back to 720).

The following describes one example of the operation of method 700. Inthis example, the current node 102 is node A and the nodes 102 in thenetwork 100 are operating in an unsynchronized mode (for example, duringinitial system startup). When node A first powers on and wakes up, nodeA does not relay any data it receives for the first block period. Afterthe first block period has elapsed, node A receives data from node B onchannel 0 (that is, from node A's counter-clockwise neighbor). In thisexample, node B sourced the received data because node A did notreceive, within the predetermined comparison period, the same data fromnode C (node A's counter-clockwise neighbor's neighbor). Node A (thecurrent node 102 in this example) relays data received from node B forthe relay period. During the relay period, node A does not relay anydata received by node A that was sourced by nodes other than node B.After the relay period elapses, for the second block period, node A doesnot relay data received on channel 0 that was sourced by node B andrelays data received on channel 0 that was sourced from a node otherthan node B. After the second block period has elapsed, node B ceasesblocking data receiving on channel 0 that was sourced by node B.

In such an example, if node B has a babbling node fault that causes nodeB to source data continuously, the current node 102 (node A) will limitthe impact of node B's fault by blocking node B's transmission duringthe second block period and instead relaying data sourced by other nodesin the network 100.

In other embodiments, one or more of the first and second block periodsand the relay period are configurable.

In other embodiments, instead of blocking or relaying data received atthe current node 102 based on whether that data was sourced from arespective neighbor, the current node 102 relays the data regardless ofwhether such data was sourced from a respective neighbor and includes,with the relayed data, information indicating whether the relayed datawas or was not sourced by the respective neighbor of the current node102. In one such embodiment, the comparison functionality describedabove in connection with FIGS. 2-5 is used to generate such information.For example, in one implementation of such an embodiment, a one-bitfield is appended to the relayed data that indicates whether or not therespective neighbor of the current node 102 sourced the relayed data.These appended fields can be used, for example, as a “hop count” insource identification processing.

In other embodiments, the current node 102, upon detecting that datareceived at the current node 102 was sourced by a neighbor, determinesif the transmission complies with one or more policies implemented inthe network 100 and, if such transmission does not comply with one ormore such policies, either does not relay the received data or relaysthe data along with the information indicating non-compliance with suchpolicies (for example, by appending a one-bit integrity field or byaltering a shared integrity field included in the data).

Because channels 0 and 1 comprise segmented media, there is apossibility that multiple “cliques” may form in the network 100 at, forexample, system power up. FIG. 8 illustrates an exemplary scenario inwhich two cliques form in the network 100 of FIG. 1. Each of the cliqueshas a separate TDMA schedule 802 or 804 according to which the nodes 102in the respective clique transmit. In this example, the time slots inthe both schedules 802 and 804 are the same size and the schedules 802and 804 are almost 180 degrees out of phase with each other. Schedule802 is associated with a clique that includes nodes A, H, G, and F (alsoreferred to here as the “clique 1”) and schedule 804 is associated witha clique that includes nodes E, B, C, and D (also referred to here asthe “clique 2”). The order in which the nodes 102 in the networktransmit is node A, node E, node H, node B, node G, node C, node F, andnode D, with each of the nodes E, B, C, and D starting its transmissionone-half slot behind each of nodes A, H, G, and F, respectively.

In this example, the two cliques 802 and 1204 remain stable andcompletely unaware of each other. It should be noted that the normalclique avoidance function of, for example, the TTP/C protocol wouldlikely not be sufficient to resolve such a clique formation as the“noise” observed on only one of the links from the opposing clique wouldbe offset by the successful reception of a message in every slot.

FIG. 9 is flow diagram of one embodiment of a method 900 of resolvingcliques in a network 100 of FIG. 1. The embodiment of method 900 shownin FIG. 9 is suitable for resolving the cliques formed in the exampleshown in FIG. 8. Although the embodiment of method 900 shown in FIG. 9is described here as being implemented using the network 100 shown inFIG. 1, other embodiments are implemented in other networks and in otherways. Method 900 is suitable for use when the nodes 102 in the ring 104are operating in a synchronized mode in which two or more cliques haveformed. In the context of FIG. 9, the node 102 that is performing theprocessing of method 900 is referred to here as the “current” node 102.In one embodiment, at least a portion of the functionality describedhere as being performed by the current node 102 is implemented in acontroller included in the node 102. Other embodiments of method 900 areimplemented in other ways.

The functionality of method 900 is used when the current node 102 isoperating in a synchronous mode (that is, when the nodes 102 in eachclique are transmitting according to a TDMA schedule). While operatingin synchronous mode, the current node 102 listens in a synchronousmanner for data from the both of the current node's neighbor (block902). That is, the current node 102 listens for frames from itsclockwise neighbor on channel 1 and for frames from itscounter-clockwise neighbor on channel 0 during the time slots defined bythe current transmission schedule recognized by the current node 102.The current node 102 determines if it has not received a valid framefrom either of the current node's neighbors for a predetermined periodof time (checked in block 904). A neighbor from which the current node102 has not received a valid frame for the given period of time isreferred to here as a “silent neighbor.” A “valid” frame is a frame thatis syntactically correct and that is in agreement with the currentnode's schedule position. In one embodiment, the validity of schedulealignment may be validated by explicit schedule data transmitted withinthe contents of a frame. In another embodiment, the schedule positiondata may be sent implicitly in the contents of a frame (for example, asdescribed in the H0005061 Application).

When the current node 102 has not received a valid frame for the givenperiod of time from a silent neighbor, the current node 102 listensasynchronously for data from the silent neighbor's neighbor for thegiven period of time (block 906). For example, in one implementation ofsuch an embodiment, the given period of time is equal to one TDMA round.In another embodiment, this time period is zero (that is, the currentnode 102 continuously listens in an asynchronous mode for valid framesfrom the current node's neighbor's neighbors on the skip links 108).

When the current node 102 listens asynchronously for data from such asilent neighbor's neighbor, the current node 102 will be able to receiveany syntactically valid frame sent from the silent neighbor's neighborirrespective of transmission time or phase. As result, the current node102 will be able receive messages from a clique of which the currentnode 102 is not a member. If the current node 102 does not receive avalid frame from the silent neighbor's neighbor within the given periodof time while listening asynchronously, the current node 102 remains inthe clique of the current node 102 is currently a member (also referredto here as the “current clique”) (block 920).

When the current node 102 receives a valid frame from the silentneighbor's neighbor while listening asynchronously (checked in block908), the current node 102 asynchronously listens for a second validframe from the silent neighbor for the given period of time (block 910).If the current node 102 does not receive a valid from the silentneighbor within the given period of time while listening asynchronously(checked in block 912), the current node 102 remains in the currentclique (block 920). If the current node 102 receives a valid frame fromthe silent neighbor while listening asynchronously, the current node 102checks if the two asynchronous frames indicate that they weretransmitted from the same clique (block 914). In one embodiment, thecurrent node 102 checks if the two asynchronous frames were transmittedfrom nodes that are members of the same clique. In another embodiment,the current node 102 checks if the time observed between the twoasynchronous receptions of the two asynchronous frames is in agreementwith the expected time between the respective scheduled transmissions asindicated, for example, by frame schedule position data embedded withinthe two asynchronous frames. In other embodiments, other frame coherencychecks may be performed in addition to or instead of these checks.

If the current node 102 does not receive two asynchronous frames thatindicate that they were transmitted from the same clique, the currentnode 102 remains in the current clique (block 920).

If the two asynchronous frames indicate that they were transmitted fromthe same clique (also referred to here as the “other clique), then thecurrent node 102 determines if the current node 102 should defect fromthe current clique towards the other clique (block 916). If the currentnode 102 determines that it should defect, the current node 102 defectsfrom the current clique with a bias towards the other clique (block918). Otherwise, the current node 102 remains in the current clique(block 920).

In one embodiment, the current node 102 determines if it should defectfrom the current clique towards the other clique by comparing the sizeof the current clique (that is, the number of nodes that are members ofthe current clique) to the size of the other clique (that is, the numberof nodes that are members of the other clique). If the other clique islarger than the current clique, the current node 102 defects from thecurrent clique towards the other clique. If the other clique is notlarger than the current clique, the current node 102 remains in thecurrent clique. In one implementation of such an embodiment, the size ofthe other clique is determined using explicit clique-size informationincluded in the two asynchronous frames. In another implementation, thesize of the other clique size is determined using information that isimplicitly sent with the two asynchronous frames (for example, asdescribed in the H0005061 Application). In another implementation, thesize of the other clique is derived from other information sent withinthe two asynchronous frames (for example, a membership vector). Inanother implementation, the current node 102 listens asynchronously fortransmission from the other clique for an entire TDMA round andthereafter derives the size of the other clique based on the number oftransmission the current node 102 received during the TDMA round.

In another embodiment, the current node 102 determines if it shoulddefect from the current clique towards the other clique based on an apriori ordering of the nodes 102 in the network 100. The current node102 determines if it should defect by determining which member node ofthe current clique comes first in the assigned order and by determiningwhich member node of the other clique comes first in the assigned order.The current node 102 defects from the current clique towards the otherclique if the first node of the other clique comes before the first nodeof the current clique in the order assigned to the nodes 102 of thenetwork 100. FIG. 10 is a block diagram illustrating one example of theoperation of such an implementation. In the example shown in FIG. 10,the nodes 102 of network 100 are ordered in the following order: node A,node B, node C, node D, node E, node F, node G, and node H. In thisexample, the other clique includes the nodes that are members of clique1 shown in FIG. 8 and the current clique includes the nodes that aremembers of clique 2 shown in FIG. 8. The first node of the other clique(node A) comes before the first node of the current clique (node B) and,therefore, the current node 102 would defect from the current cliquetowards the other clique in this example.

In one such embodiment, the current node 102 uses such an a priorordering to determine if the current node 102 should defect from thecurrent clique towards the other clique only when the current clique andother clique are of the same size (that is, have the same number ofmember nodes).

The systems, devices, methods, and techniques described here can beimplemented nodes that implements various types of protocols (forexample, time triggered protocols such as TTP/C or FLEXRAY) FIG. 11 is ablock diagram of one exemplary embodiment of a node 1100 that issuitable for implementing each node 102 of the network 100 shown inFIG. 1. The node 1100 shown in FIG. 11 implements the TTP/C protocol(though it is to be understood that the systems, devices, methods andtechniques described here can be implemented using other protocolsinstead of or in addition to the TTP/C protocol). Each node 1100includes a host 1110 and a TTP/C controller 1112. The host 1110 executesapplication software 1114 that provides the data that is communicatedover the network 100. For example, in one implementation, the host 1110is a computer executing a safety-critical control application. The host1110 communicates with the other nodes 102 in the communication network100 using the TTP/C controller 1112. The TTP/C controller 1112implements the functionality of the TTP/C protocol. The TTP/C protocolprovides three basic services to the application software 1114 executingon the host 1110. The TTP/C protocol provides deterministic messagesending, a global time base, and membership service so that each node1100 knows which node is currently transmitting.

The TTP/C controller 1112 includes a communication network interface(CNI) 1116 that serves as an interface between the host 1110 and theother components of the TTP/C controller 1112. In the embodiment shownin FIG. 11, the CNI 1116 is implemented using a dual-ported memory 1118(also referred to here as the “CNI memory 1118). The CNI memory 1118 isaccessed by the host 1110 and by a TTP/C controller unit 1120 includedin the TTP/C controller 1112. In one implementation of such anembodiment, the CNI memory 1118 is implemented using a static randomaccess memory (SRAM). A bus interface 1122 couples the CNI memory 1118to buses 1124 (for example, data, address, and/or control buses) overwhich the host 1110 reads and writes data from and to the CNI memory1118. In other embodiments, the CNI memory 1118 is accessed in otherways (for example, using a serial interface).

The TTP/C controller unit 1120 provides functionality necessary toimplement the TTP/C protocol. In one implementation of such anembodiment, the TTP/C controller unit 1120 is implemented using aprogrammable processor (for example, a microprocessor) that isprogrammed with instructions to carry out the functionality performed bythe TTP/C controller unit 1120. In such an embodiment, instructionmemory 1126 is coupled to the TTP/C controller unit 1120. Programinstructions that are executed by the TTP/C controller unit 1120 arestored in the program instruction memory 1126. In one implementation,the program memory 1126 is implemented using a read only memory deviceor a non-volatile memory device such as a flash memory device.

The TTP/C controller 1112 also includes message descriptor list (MEDL)memory 1128 in which configuration information for a time-divisionmultiple access (TDMA) schedule, operating modes, and clocksynchronization parameters are stored. The MEDL memory 1128 is typicallyimplemented using, for example, a flash memory device and/or staticrandom access memory (SRAM) device. Both the size of the CNI memory1118, the program memory 1126, and the MEDL memory 1128 are selectedbased on the specific needs of the application software 1114 executingon the host 1110, the program instructions executing on theTTP/controller unit 1120, and/or a bus guardian 1132 (described below).Moreover, although the CNI memory 1118, the program memory 1126, and theMEDL memory 1128 are shown in FIG. 11 as separate components, in someembodiments the CNI memory 1118, the program memory 1126, and/or theMEDL memory 1128 are combined into one or more memory devices.

A single bus guardian 1132 servers as an interface between the TTP/Ccontroller 1112 and the links 1108. In one implementation of theembodiment shown in FIG. 11, the bus guardian 1132 includes, forexample, one or more universal asynchronous receiver/transmitter (UART)devices that are used to receive data from and transmit and relay dataover the serial, unidirectional point-to-point, unidirectional links 108shown in FIG. 1.

Data received by the bus guardian 1132 from the links 108 is passed tothe TTP/C controller 1112 for processing thereby in accordance with theTTP/C protocol. Data that is to be transmitted by the TTP/C controller1112 is passed by the TTP/C controller unit 1120 to the bus guardian1132. The bus guardian 1132 determines when the TTP/C controller 1112 isallowed to transmit on the links 108 and when to relay data receivedfrom the links 108. In one implementation, the bus guardian 1112implements at least a portion of the functionality described above inconnection with FIGS. 2 and 3. The bus guardian 1132 accesses the MEDLinformation stored in the MEDL memory 1128 of the TTP/C controller 1120in order to determine when to transmit and relay data. Thus, the busguardian 1132 included in each node 102 serves as a bus guardian 1132for that node 102 and for each of that node's neighbors. In this way,fault-tolerance associated with multiple bus guardians can be achievedfor the nodes 102 in the network 100 while only using a single busguardian 1132 in each node 102.

Although the TTP/C controller 1112 and the bus guardian 1132 are shownas separate components in FIG. 11, it is to be understood that in oneimplementation of such an embodiment, the functionality provided by theTTP/C controller 1112 and the bus guardian 1132 are integrated into asingle integrated circuit device. In such an implementation, additionalresource savings (for example, cost, space, and power) can be achieved.In one such implementation, a programmable processor is programmed withappropriate program instructions that, when executed by the programmableprocessor, carry out at least a portion of the functionality describedhere as being performed by the TTP/C controller 1112 and the busguardian 1132. In other embodiments and implementations, the TTP/Ccontroller 1112 (or one or more components thereof) and the bus guardian1132 (or one or more components thereof) are implemented using separatecomponents.

FIG. 12 is a flow diagram of one embodiment of a method of detectingdirectional integrity in the network 100 of FIG. 1. Although theembodiment of method 1200 shown in FIG. 12 is described here as beingimplemented using the network 100 shown in FIG. 1, other embodiments areimplemented in other networks and in other ways. In the context of FIG.12, the node 102 that is performing the processing of method 1200 isreferred to here as the “current” node 102. In one embodiment, at leasta portion of the functionality described here as being performed by thecurrent node 102 is implemented in a controller included in the node102. Other embodiments of method 1200 are implemented in other ways.

When a given node 102 (referred to here in the context of FIG. 12 as the“transmitting” node 102) transmits data, each of the neighbor nodes ofthe transmitting node 102 perform method 1200 in order to determine ifthe transmitting node 102 is transmitting the same data on both channels0 and 1 of the network 100 (that is, whether there the transmitting node102 is transmitting with directional integrity). Method 1200 can beperformed, for example, when the nodes 102 in the network 100 areoperating in a synchronized mode in which the nodes transmit inaccordance with a TDMA schedule. In such an embodiment, method 1200 canbe performed by the neighbor nodes in addition to the processingdescribed above in connection with FIG. 3A or FIG. 3B. Method 1200 canalso be performed, for example, when the nodes 102 in the network 100are operating in an unsynchronized mode (for example, during systemstartup). In such an embodiment, method 1200 can be performed inaddition to the processing described above in connection with FIGS.7A-7B.

When the transmitting node 102 transmits, both neighbors of thetransmitting node exchange the respective frames they receive from thetransmitting node over the skip links 108 that communicatively couplethe neighbors to one another. As shown in FIG. 12, when the current node102 receives a frame sourced from one of its neighbors (checked in block1202), the current node 102 forwards the frame it is receiving from thatneighbor (that is, from the transmitting node) to the other neighbor ofthe transmitting node (block 1204). The current node 102 receives theframe from the transmitting node 102 from the direct link 108 thatcommunicatively couples the current node 102 to the transmitting node.In the context of claim 12, the channel on which the current node 102receives the frame from the transmitting node 102 is referred to here asthe “current channel.” The current node 102 forwards the frame itreceives from the transmitting node to the other neighbor of thetransmitting node 102 over the skip link 108 that communicativelycouples the current node 102 to the other neighbor in channel other thanthe current channel.

The other neighbor of the transmitting node forwards the frame itreceives from the transmitting node to the current node 102 over theother skip link 108 that communicatively couples the other neighbor tothe current node 102 in the current channel. In the context of FIG. 12,the frame forwarded to the current node 102 by the other neighbor of thetransmitting node is also referred to here as the “other frame.” Thecurrent node 102 receives the other frame (block 1206). The current node102 compares the frame it is receiving from the transmitting node to theother frame it is receiving from the other neighbor (block 1208). In oneembodiment, this comparison is a bit-for-bit comparison.

The current node 102 relays the frame it is receiving from thetransmitting node 102 along the current channel (block 1210). Forexample, when the transmitting node 102 is the clockwise neighbor of thecurrent node 102, the current node 102 receives the frame from thetransmitting node 102 via channel 1 and relays the received frame alongchannel 1 to the counter-clockwise neighbor and neighbor's neighbor ofthe current node 102. When the transmitting node 102 is thecounter-clockwise neighbor of the current node 102, the current node 102receives the frame from the transmitting node 102 via channel 0 andrelays the received frame along channel 0 to the clockwise neighbor andneighbor's neighbor of the current node 102.

After the entire frame transmitted by the transmitting node has beenrelayed by the current node 102 and the comparison between that frameand the other frame forwarded to the current node 102 by the otherneighbor is complete, the current node 102 relays information indicativeof the results of that comparison in or after the frame received fromthe transmitting neighbor along the current channel (block 1212). In oneembodiment, the information indicative of the results of the comparisoncomprises a one-bit, appended integrity field that the current node 102appends to the frame received from the transmitting node in the mannerdescribed above in connection with FIGS. 4A-4B and 5. In anotherembodiment, a shared integrity field is included at the end of eachframe in the manner described above in connection with FIGS. 4A-4B and5.

For example, where the transmitting node is node A of FIG. 1 and thecurrent node is node B, the other neighbor of the transmitting node isnode H. In such an example, the current node (node B) forwards the frameit receives from node A to the other neighbor (node H) over the skiplink 108 of channel 0, which communicatively couples node B to node H.Likewise, the other neighbor (node H) forwards the frame it receivesfrom node A to the current node (node B) over the skip link 108 ofchannel 1, which communicatively couples node H to node B. Node Bcompares the frame it receives from node A to the frame it receives fromnode H. Node B relays the frame received from node A along channel 1 tonode C (the counter-clockwise neighbor of node B) and to node D (thecounter-clockwise neighbor's neighbor of node B). When the node B hasrelayed the entire frame received from node A and has completed thecomparison, node B appends (in this example) a one-bit field to therelayed frame.

FIG. 13 is a flow diagram of one embodiment of a method ofreconstituting integrity in the network 100 of FIG. 1. Although theembodiment of method 1300 shown in FIG. 13 is described here as beingimplemented using the network 100 shown in FIG. 1, other embodiments areimplemented in other networks and in other ways. In the context of FIG.13, the node 102 that is performing the processing of method 1300 isreferred to here as the “current” node 102. In one embodiment, at leasta portion of the functionality described here as being performed by thecurrent node 102 is implemented in a controller included in the node102. Other embodiments of method 1300 are implemented in other ways.

It is to be understood that the processing described here in connectionwith FIG. 13 is optional and need not necessarily be implemented in anygive network 100 that any of the other systems, devices, methods ortechniques described here.

Method 1300 is performed, in one embodiment, by those nodes 102 otherthan the transmitting node 102 and the transmitting node's clockwise andcounter-clockwise neighbor nodes 102 while the nodes 102 are operatingin a synchronized mode. The current node 102 is able to perform theprocessing of method 1300 when the current node 102 happens to receivefour frames from the two channels (that is, frames from thecounter-clockwise neighbor and the counter-clockwise neighbor's neighborvia channel 0 and from the clockwise neighbor and clockwise neighbor'sneighbor via channel 1) within a predetermined “comparison” window. Whenthis happens, the current node 102 is able to compare the four frames toone another in a “voting” operation.

When the current node 102 receives frames (referred to here as the“first frames”) at the current node 102 from a first neighbor and afirst neighbor's neighbor of the current node 102 (block 1302), thecurrent node 102 relays one of the first frames (also referred to hereas the “relayed first frame”) along the that first channel and performsthe two-way comparison between the two first frames in the same generalmanner described above in connection with FIGS. 4A-4B (block 1304).Thereafter, when the current node 102 receives frames (referred to hereas the “latter” or “second” frames) at the current node 102 from thecurrent node's other neighbor and other neighbor's neighbor (block1306), the current node 102 relays one of the second frames (alsoreferred to here as the “relayed second frame”) along the second channeland performs the two-way comparison between the two second frames in thesame general manner described above in connection with FIGS. 4A-4B(block 1308).

If the current node 102 receives the second frames from the secondchannel within the compare window (checked in block 1310), the currentnode 102 performs a voting operation using the four frames (that is, thefirst frames and the second frames) it is receiving (block 1312). In oneembodiment, the voting operation compares each of the four frames to theother four frames in a bit-by-bit comparison. If the comparisonsindicate that there is a mis-compare between the two second frames(checked in block 1314) but the first frames are identical to each otherand to one of the second frames (that is, there is a “majority”) (block1316), the current node 102 “overrides” the normal relay/two-waycomparison processing described above (block 1318). The current node102, instead of performing the normal relay and two-way comparisonprocessing described above, relays the second frame that matched the twofirst frames and relays along with the relayed second frame informationindicating that the relayed second frame was received at the currentnode 102 with integrity. That is, the integrity field that wouldotherwise be appended to or included in the relayed second frame inaccordance with the normal relay/two-war comparison processing of method400 is replaced with a “positive” value indicating to subsequent nodes102 that the current node 102 had a “match” (that is, received therelayed second frame with integrity) irrespective of the normalrelay/two-way comparison processing performed at the current node 102.It is to be understood that in other embodiments, other voting rulesand/or override processing is performed.

If the latter frames are not received within the compare window, thereis no mis-compare between the second frames, or if there is amis-compare between the second frames but there is no majority, thecurrent node 102 does not override the normal relay/two-compareprocessing of the second frames (block 1320).

When operating in synchronized mode, a node 102 can perform such avoting operation after that node 102 has received the four frames (thatis, frames from the node's clockwise neighbor, clockwise neighbor'sneighbors counter-clockwise neighbor, and counter-clockwise neighbor'sneighbor) for a given time slot. FIG. 14 is a flow diagram of oneembodiment of a method 1400 of voting at a node 102 of the network 100shown in FIG. 1. Although the embodiment of method 1400 shown in FIG. 14is described here as being implemented using the network 100 shown inFIG. 1, other embodiments are implemented in other networks and in otherways. In the context of FIG. 14, the node 102 that is performing theprocessing of method 1400 is referred to here as the “current” node 102.In one embodiment, at least a portion of the functionality describedhere as being performed by the current node 102 is implemented in a“voter” that serves as an interface between the functionality thatperform the transmit/relay functionality described above in connectionwith FIGS. 2-4B and an application executing on the node 102 that usesthe data communicated over the network 100. Other embodiments of method1400 are implemented in other ways.

Method 1400 is performed by the current node 102 when the node 102 isoperating in synchronized mode and after the current node 102 hasreceived four frames from the network 100 for a given time slot. Thecurrent node 102 determines if any of the four frames have been receivedat the current node 102 with integrity (block 1402). In this embodiment,a frame is received with integrity if the appended or shared integrityfields included with the frame indicate that no mismatch has occurred inthe process of transmitting and relaying the frame to the current node102. If a frame has been received at the current node 102 withintegrity, that frame is used for subsequent processing (for example, bythe application executing on the current node 102) (block 1404).

If none of the four frames received by the current node 102 for thecurrent time slot were received with integrity, the current node 102performs a voting operation using the four received frames (block 1406).The voting operation, in one embodiment, performs a bit-by-bitcomparison of each frame to the other two frames received on the otherchannel. If any of the bit-by-bit comparisons indicate that the twocompared frames are identical (that is, there is a “majority”) (checkedin block 1408), those frames are used (for example, by the applicationexecuting on the current node 102) as if they had been received by thecurrent node 102 with integrity (block 1410). If none of the comparedframes are identical, then no frame is considered to have been receivedwith integrity (block 412). In one embodiment, the voter within thecurrent node 102 provides a single frame to the application executing onthe current node 102 for use thereby. The frame that is provided to theapplication is a frame that is received with integrity at the currentnode or that is considered to have been received with integrity aftervoting. In this way, even if the relay and/or directional integrityprocessing described above results in four frames being received by thecurrent node 102 without integrity, the integrity of those frames can be“reconstituted” by the voting operation.

The systems, devices, methods, and techniques described here may beimplemented in networks having network topologies other than theparticular braided-ring topology illustrated in FIG. 1. For example, atleast some of the systems, devices, methods, and techniques describedhere may be implemented in networks in which additional inter-nodeconnections are provided between the various nodes of the network. Oneexample of such a network is a “mesh” network. In one example of such amesh embodiment, each node is communicatively coupled to all the othernodes in the network 100 (in the case of a “full” mesh network topology)or a subset of the other nodes in the network (in the case of a“partial” mesh network topology). For each such node, and for a givenflow of data within a given channel defined in such a mesh network, atleast a subset of the nodes to which that node is coupled are designatedas receive-from nodes for that node and at least a subset of the nodesto which that node is coupled are designated as transmit-to nodes.

Moreover, at least some of the systems, devices, methods, and techniquesdescribed here may be implemented in networks in which fewer inter-nodeconnections are provided between the various nodes of the network. Oneexample of such a network is a network that comprises two “simplex” ringchannels. One such embodiment is implemented in a manner to that shownin FIG. 1 except that there are no skip links that communicativelycouple each node to its clockwise and counter-clockwise neighbor'sneighbors). For example, an embodiment of method 300 is suitable for usein such a simplex ring network.

Furthermore, it is to be understood that the various systems, devices,methods, and techniques described here need not all be implementedtogether in a single network and that various combinations of suchsystems, devices, methods, and techniques can be implemented.

The methods and techniques described here may be implemented in digitalelectronic circuitry, or with a programmable processor (for example, aspecial-purpose processor or a general-purpose processor such as acomputer) firmware, software, or in combinations of them. Apparatusembodying these techniques may include appropriate input and outputdevices, a programmable processor, and a storage medium tangiblyembodying program instructions for execution by the programmableprocessor. A process embodying these techniques may be performed by aprogrammable processor executing a program of instructions to performdesired functions by operating on input data and generating appropriateoutput. The techniques may advantageously be implemented in one or moreprograms that are executable on a programmable system including at leastone programmable processor coupled to receive data and instructionsfrom, and to transmit data and instructions to, a data storage system,at least one input device, and at least one output device. Generally, aprocessor will receive instructions and data from a read-only memoryand/or a random access memory. Storage devices suitable for tangiblyembodying computer program instructions and data include all forms ofnon-volatile memory, including by way of example semiconductor memorydevices, such as EPROM, EEPROM, and flash memory devices; magnetic diskssuch as internal hard disks and removable disks; magneto-optical disks;and DVD disks. Any of the foregoing may be supplemented by, orincorporated in, specially-designed application-specific integratedcircuits (ASICs).

A number of embodiments of the invention defined by the following claimshave been described. Nevertheless, it will be understood that variousmodifications to the described embodiments may be made without departingfrom the spirit and scope of the claimed invention. Accordingly, otherembodiments are within the scope of the following claims.

1. A node comprising: an interface to communicatively couple the node toa channel; wherein the channel communicatively couples the node to afirst neighbor node in a first direction and to a second neighbor nodein a second direction; and wherein, when the first neighbor node isscheduled to transmit in accordance with a transmission schedule and thenode receives at least a portion of a transmission sourced from thefirst neighbor node via the channel, the node determines if thetransmission was transmitted in accordance with the transmissionschedule; wherein if the transmission was not transmitted in accordancewith the transmission schedule, the node does not relay the transmissionalong the channel; and wherein the node is operable to transmit datasourced from the node when scheduled to do so in the transmissionschedule.
 2. The node of claim 1, wherein the node relays the data ifthe transmission was transmitted in accordance with the transmissionschedule along the channel to the second neighbor node.
 3. The node ofclaim 1, wherein the channel communicatively couples the node to a firstneighbor's neighbor node in the first direction and to a secondneighbor's neighbor node in the second direction.
 4. The node of claim3, wherein the node relays the data if the transmission was transmittedin accordance with the transmission schedule along the channel to thesecond neighbor node and to the second neighbor's neighbor node.
 5. Thenode of claim 1, wherein the node determines if the transmissioncomplies with least one other policy, and wherein, if the transmissiondoes not comply with the at least one other policy, the node does notrelay the transmission along the channel.
 6. The node of claim 5,wherein the at least one other policy comprises at least one of: adirectional integrity policy, a semantic filtering policy, and anencoding policy.
 7. A node comprising: an interface to communicativelycouple the node to a channel; wherein the channel communicativelycouples the node to a first neighbor node in a first direction and to asecond neighbor node in a second direction; and wherein, when the firstneighbor node is scheduled to transmit in accordance with a transmissionschedule and the node receives at least a portion of a transmissionsourced from the first neighbor node via the channel, the nodedetermines if the transmission was transmitted in accordance with thetransmission schedule; wherein if the transmission was not transmittedin accordance with the transmission schedule, the node relays thetransmission along the channel with information indicating that thetransmission was not transmitted in accordance with the transmissionschedule; and wherein the node is operable to transmit data sourced fromthe node when scheduled to do so in the transmission schedule.
 8. Thenode of claim 7, wherein the node relays the data if the transmissionwas transmitted in accordance with the transmission schedule.
 9. Thenode of claim 7, wherein the node relays the data if the transmissionwas transmitted in accordance with the transmission schedule along withinformation indicating that the transmission was transmitted inaccordance with the transmission schedule.
 10. The node of claim 7,wherein the channel communicatively couples the node to a firstneighbor's neighbor node in the first direction and to a secondneighbor's neighbor node in the second direction.
 11. The node of claim10, wherein: the node forwards the data to the first neighbor'sneighbor; the node receives other data from the first neighbor'sneighbor; and the node compares the data to the other data in order todetermine if the transmission complies with a directional integritypolicy; and the node relays the data along with information indicativeof the results of the comparison along the channel to the secondneighbor node and the second neighbor's neighbor node.
 12. A nodecomprising: an interface to communicatively couple the node to achannel; wherein the channel communicatively couples the node to a firstneighbor node in a first direction and to a second neighbor node in asecond direction; and wherein, when the first neighbor node is scheduledto transmit in accordance with a transmission schedule and the nodereceives at least a portion of a transmission sourced from the firstneighbor node via the channel, the node determines if the transmissionwas transmitted in accordance with the transmission schedule; whereinwhen the transmission was not transmitted in accordance with thetransmission schedule, the node does at least one of: blocks thetransmission from being relayed along the channel; and relays thetransmission along the channel with information indicating that thetransmission was not transmitted in accordance with the transmissionschedule; and wherein the node is operable to transmit data sourced fromthe node when scheduled to do so in the transmission schedule.
 13. Thenode of claim 12, wherein the channel communicatively couples the nodeto a first neighbor's neighbor node in the first direction and to asecond neighbor's neighbor node in the second direction.
 14. The node ofclaim 13, wherein: the node forwards the data to the first neighbor'sneighbor; the node receives other data from the first neighbor'sneighbor; and the node compares the data to the other data in order todetermine if the transmission complies with a directional integritypolicy; and the node includes, with the transmission, informationindicative of the results of the comparison and relays the transmissionand the information to the second neighbor and the second neighbor'sneighbor.
 15. The node of claim 13, wherein the channel comprises: afirst direct link that communicatively couples the node to the firstneighbor node via the channel; a first skip link the communicativelycouples the node to the first neighbor's neighbor node via the channel;a second direct link that communicatively couples the node to the secondneighbor node via the channel; and a second skip link thecommunicatively couples the node to the second neighbor's neighbor nodevia the channel.
 16. The node of claim 13, wherein the node relays thetransmission by relaying the transmission to the second neighbor nodeand the second neighbor's neighbor node.
 17. The node of claim 13,wherein the interface communicatively couples the node to a secondchannel, wherein the second channel communicatively couples the node tothe second neighbor node and the second neighbor's neighbor in thesecond direction and to the first neighbor node and the first neighbor'sneighbor in the first direction.
 18. The node of claim 17, wherein: whenthe second neighbor node is scheduled to transmit in accordance with atransmission schedule and the node receives at least a portion of atransmission sourced from the second neighbor node via the secondchannel, the node determines if the transmission was transmitted inaccordance with the transmission schedule; and when the transmissionfrom the second neighbor node was not transmitted in accordance with thetransmission schedule, the node does at least one of: block thetransmission received from the second neighbor node from being relayedalong the second channel; and relay the transmission received from thesecond neighbor node along the second channel with informationindicating that the transmission received from the second neighbor nodewas not transmitted in accordance with the transmission schedule. 19.The node of claim 17, wherein the second channel comprises a ring. 20.The node of claim 17, wherein the node relays the transmission receivedfrom the second neighbor node by relaying that transmission to the firstneighbor node and the first neighbor's neighbor node along the secondchannel.
 21. The node of claim 12, wherein the node relays thetransmission if the transmission was transmitted in accordance with thetransmission schedule.
 22. The node of claim 12, wherein the nodedetermines if the transmission complies with least one other policy, andwherein, if the transmission does not comply with the at least one otherpolicy, wherein the policy comprises at least one of: a temporal policy,a directional integrity policy, a semantic filtering policy, and anencoding policy.
 23. The node of claim 12, wherein the node determinesif the transmission complies with least one other policy, and wherein,if the transmission does not comply with the at least one other policy,wherein the policy comprises a temporal policy and, if the transmissionof the data does not comply with the temporal policy, the node does notrelay the transmission along the channel.
 24. The node of claim 12,wherein the channel comprises a ring.
 25. The node of claim 12, whereinthe transmission received from the first neighbor node comprises atleast one frame of data.
 26. The node of claim 12, wherein theinformation indicating that the transmission received from the firstneighbor node was not transmitted in accordance with the transmissionschedule comprises at least one of an appended field that is appended tothe transmission received from the first neighbor node and a sharedfield included in the transmission received from the first neighbornode.
 27. A network comprising: a plurality of nodes that arecommunicatively coupled to one another over a first channel; wherein thechannel communicatively couples each node to a first neighbor node in afirst direction and to a second neighbor node in a second direction; andwherein, for each node, when the first neighbor node of that node isscheduled to transmit in accordance with a transmission schedule andthat node receives at least a portion of a transmission sourced fromthat first neighbor node via the channel, that node determines if thetransmission was transmitted in accordance with the transmissionschedule; wherein when the transmission was not transmitted inaccordance with the transmission schedule, that node does not relay thetransmission along the channel; and wherein each node is operable totransmit data sourced from that node when scheduled to do so in thetransmission schedule.
 28. The network of claim 27, wherein the channelcommunicatively couples the node to a first neighbor's neighbor node inthe first direction and to a second neighbor's neighbor node in thesecond direction.
 29. The network of claim 27, wherein the nodedetermines if the transmission complies with least one other policy, andwherein, if the transmission does not comply with the at least one otherpolicy, the node does not relay the transmission along the channel. 30.The network of claim 29, wherein the at least one other policy comprisesone of: a directional integrity policy, a semantic filtering policy, andan encoding policy.
 31. A network comprising: a plurality of nodes thatare communicatively coupled to one another over a first channel; whereinthe channel communicatively couples each node to a first neighbor nodein a first direction and to a second neighbor node in a seconddirection; and wherein, for each node, when the first neighbor node ofthat node is scheduled to transmit in accordance with a transmissionsschedule and that node receives at least a portion of a transmissionfrom that first neighbor node via the channel, that node determines ifthe transmission was transmitted in accordance with the transmissionschedule, wherein when the transmission was not transmitted inaccordance with the transmission schedule, that node relays the dataalong the channel with information indicating that the transmission wasnot transmitted in accordance with the transmissions schedule; andwherein each node is operable to transmit data sourced from that nodewhen scheduled to do so in the transmission schedule.
 32. The network ofclaim 31, wherein the channel communicatively couples the node to afirst neighbor's neighbor node in the first direction and to a secondneighbor's neighbor node in the second direction.
 33. The network ofclaim 32, wherein: the node forwards the data to the first neighbor'sneighbor; the node receives other data from the first neighbor'sneighbor; and the node compares the data to the other data in order todetermine if the transmission complies with a directional integritypolicy; and the node includes, with the transmission, informationindicative of the results of the comparison and relays the transmissionand the information to the second neighbor and the second neighbor'sneighbor.
 34. A network comprising: a plurality of nodes that arecommunicatively coupled to one another over a first channel; wherein thechannel communicatively couples each node to a first neighbor node in afirst direction and to a second neighbor node in a second direction; andwherein, for each node, when the first neighbor node of that node isscheduled to transmit in accordance with a transmission schedule andthat node receives at least a portion of a transmission from that firstneighbor node via the channel, that node determines if the transmissionwas transmitted in accordance with the transmission schedule, whereinwhen the transmission was not transmitted in accordance withtransmission schedule, that node does at least one of: block thetransmission from being relayed along the channel; and relay thetransmission along the channel with information indicating that thetransmission was not transmitted in accordance with the transmissionschedule; and wherein each node is operable to transmit data sourcedfrom that node when scheduled to do so in the transmission schedule. 35.The network of claim 34, wherein the channel communicatively couples thenode to a first neighbor's neighbor node in the first direction and to asecond neighbor's neighbor node in the second direction.
 36. The networkof claim 35, wherein: that node forwards the data to the firstneighbor's neighbor of that node; that node receives other data fromthat first neighbor's neighbor; and that node compares the data to theother data in order to determine if the transmission complies with adirectional integrity policy; and that node includes, with thetransmission, information indicative of the results of the comparisonand relays the transmission and the information to the second neighbornode of that node and the second neighbor's neighbor node of that node.37. The network of claim 35, wherein the channel comprises, for eachnode: a first direct link that communicatively couples that node to thefirst neighbor node of that node via the channel; a first skip link thecommunicatively couples that node to the first neighbor's neighbor nodeof that node via the channel; a second direct link that communicativelycouples that node to the second neighbor node of that node via thechannel; and a second skip link the communicatively couples that node tothe second neighbor's neighbor node of that node via the channel. 38.The network of claim 35, wherein that node relays the transmission byrelaying the transmission to the second neighbor node of that node andthe second neighbor's neighbor node of that node.
 39. The network ofclaim 35, wherein a second channel communicatively couples each node tothe second neighbor node of that node and the second neighbor's neighbornode of that node in the second direction and to the first neighbor nodeof that node and the first neighbor's neighbor node of that node in thefirst direction.
 40. The network of claim 39, wherein: when the secondneighbor node is scheduled to transmit in accordance with thetransmission schedule and the node receives at least a portion of atransmission from the second neighbor node via the second channel, thenode determines if the transmission was transmitted in accordance withthe transmission schedule; and when the transmission received from thesecond neighbor node was not transmitted in accordance with thetransmission schedule, the node does at least one of: blocks thetransmission received from the second neighbor node from being relayedalong the second channel; and relays the transmission received from thesecond neighbor node along the second channel with informationindicating that the transmission received from the second neighbor nodewas not transmitted in accordance with the transmission schedule. 41.The network of claim 39, wherein the second channel comprises a ring.42. The network of claim 39, wherein the node relays the transmissionreceived from the second neighbor node by relaying that transmission tothe first neighbor node and the first neighbor's neighbor node along thesecond channel.
 43. The network of claim 34, wherein the node determinesif the transmission complies with least one other policy, and wherein,if the transmission does not comply with the at least one other policy,wherein the policy comprises at least one of: a temporal transmissionpolicy, a directional integrity policy, a semantic filtering policy, andan encoding policy.
 44. The network of claim 34, wherein the nodedetermines if the transmission complies with least one other policy, andwherein, if the transmission does not comply with the at least one otherpolicy, wherein the policy comprises a temporal transmission policy and,if the data received by that node for that first neighbor node does notcomply with the temporal transmission policy, that node does not relaythe transmission along the channel.
 45. The network of claim 34, whereinthe channel comprises a ring.
 46. The network of claim 34, wherein thetransmission received from that first neighbor node comprises at leastone frame of data.
 47. The network of claim 34, wherein the informationindicating that the transmission received from that first neighbor nodewas not transmitted in accordance with the transmission schedulecomprises at least one of an appended field that is appended to thetransmission received from that first neighbor node and a shared fieldincluded in the transmission received from that first neighbor node. 48.A method of communicating in a network comprising a plurality of nodesthat are communicatively coupled to one another over at least a channel,the method comprising: at each node: determining when a first neighbornode of that node is scheduled to transmit on the channel in accordancewith a transmission schedule; when the first neighbor node of that nodeis scheduled to transmit on the channel: receiving at least a portion ofa transmission transmitted by the first neighbor node of that node;determining if the transmission was transmitted in accordance with thetransmission schedule; if the transmission was not transmitted inaccordance with the transmission schedule: blocking the transmissionfrom being relayed along the channel; and relaying the transmissionalong the channel with information indicating that the transmission wasnot transmitted in accordance with the transmission schedule; and if thetransmission was transmitted in accordance with the transmissionschedule, relaying the transmission along the channel; and determiningwhen that node is scheduled to transmit data sourced from that node inaccordance with the transmission schedule; and when that node isscheduled to transmit data sourced from that node in accordance with thetransmission schedule, transmitting data sourced from that node.
 49. Anode comprising: means for communicatively coupling the node to achannel, where the channel communicatively couples the node to a firstneighbor node in a first direction and to a second neighbor node in asecond direction; means for determining when the first neighbor node isscheduled to transmit in accordance with a transmission schedule; meansfor receiving at least a portion of transmission transmitted by thefirst neighbor node when the first neighbor node is scheduled totransmit: means for determining if the transmission was transmitted inaccordance with the transmission schedule; means for doing at least oneof the following if the transmission was not transmitted in accordancewith the transmission schedule: blocking the transmission from beingrelayed along the channel; and relaying the transmission along thechannel with information indicating that the transmission was nottransmitted in accordance with the transmission schedule; and means forrelaying the transmission along the channel if the transmission wastransmitted in accordance with the transmission schedule; and meansdetermining when that node is scheduled to transmit data sourced fromthat node in accordance with the transmission schedule; and meanstransmitting data sourced from that node when that node is scheduled todo so.
 50. A node comprising: an interface to communicatively couple thenode to a channel, wherein the channel communicatively couples the nodeto a plurality of receive-from nodes from which the node receives dataon the channel; wherein one of the receive-from nodes is a primaryreceive-from node; wherein, when the primary receive-from node isscheduled to transmit in accordance with a transmission schedule and thenode receives data from the primary receive-from node via the channel,the node determines if the transmission of the data was done inaccordance with the transmission schedule; wherein when the transmissionof the data was not done in accordance with the transmission schedule,the node does at least one of: blocking the data from being relayedalong the channel; and relaying the data along the channel withinformation indicating that the transmission of the data was not done inaccordance with the transmission schedule; and wherein when thetransmission of the data was net done in accordance with thetransmission schedule, the node relays the data along the channel; andwherein the node is operable to transmit data sourced from the node whenscheduled to do so in the transmission schedule.
 51. The node of claim50, wherein the channel is formed in at least one of a mesh and a ring.52. The node of claim 50, wherein the channel communicatively couplesthe node to a plurality of transmit-to nodes and wherein, when the noderelays the date along the channel, the node relays the data to theplurality of transmit-to nodes.
 53. The node of claim 50, wherein theinterface couples the node to a plurality of channels.